// *****************************************************************************
//
// Copyright (c) 2014, Southwest Research Institute® (SwRI®)
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of Southwest Research Institute® (SwRI®) nor the
//       names of its contributors may be used to endorse or promote products
//       derived from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// *****************************************************************************

#ifndef MAPVIZ_PLUGINS__DISPARITY_PLUGIN_H_
#define MAPVIZ_PLUGINS__DISPARITY_PLUGIN_H_

// Include mapviz_plugin.h first to ensure GL deps are included in the right order
#include <mapviz/mapviz_plugin.h>

// QT libraries
#include <QColor>
#include <QGLWidget>
#include <QObject>
#include <QWidget>

// ROS libraries
#ifdef USE_CVBRIDGE_H_FILES
#include <cv_bridge/cv_bridge.h>
#else
#include <cv_bridge/cv_bridge.hpp>
#endif
#include <opencv2/highgui.hpp>
#include <rclcpp/rclcpp.hpp>
#include <stereo_msgs/msg/disparity_image.hpp>
#include <tf2/transform_datatypes.h>

#include <mapviz/map_canvas.h>

// C++ standard libraries
#include <list>
#include <string>

// QT autogenerated files
#include "ui_disparity_config.h"

namespace mapviz_plugins
{
class DisparityPlugin : public mapviz::MapvizPlugin
{
  Q_OBJECT

public:
  enum Anchor {
    TOP_LEFT,
    TOP_CENTER,
    TOP_RIGHT,
    CENTER_LEFT,
    CENTER,
    CENTER_RIGHT,
    BOTTOM_LEFT,
    BOTTOM_CENTER,
    BOTTOM_RIGHT};

  enum Units {PIXELS, PERCENT};

  DisparityPlugin();
  ~DisparityPlugin() override = default;

  bool Initialize(QGLWidget* canvas) override;
  void Shutdown() override {}

  void Draw(double x, double y, double scale) override;

  void Transform() override {}

  void LoadConfig(const YAML::Node& node, const std::string& path) override;
  void SaveConfig(YAML::Emitter& emitter, const std::string& path) override;

  QWidget* GetConfigWidget(QWidget* parent) override;

protected:
  void PrintError(const std::string& message) override;
  void PrintInfo(const std::string& message) override;
  void PrintWarning(const std::string& message) override;

protected Q_SLOTS:
  void SelectTopic();
  void TopicEdited();
  void SetAnchor(QString anchor);
  void SetUnits(QString units);
  void SetOffsetX(int offset);
  void SetOffsetY(int offset);
  void SetWidth(int width);
  void SetHeight(int height);
  void SetSubscription(bool visible);

private:
  Ui::disparity_config ui_;
  QWidget* config_widget_;

  std::string topic_;
  Anchor anchor_;
  Units units_;
  double offset_x_;
  double offset_y_;
  double width_;
  double height_;

  bool has_image_;

  double last_width_;
  double last_height_;

  rclcpp::Subscription<stereo_msgs::msg::DisparityImage>::SharedPtr disparity_sub_;
  bool has_message_;

  stereo_msgs::msg::DisparityImage disparity_;

  cv::Mat_<cv::Vec3b> disparity_color_;
  cv::Mat scaled_image_;

  void disparityCallback(const stereo_msgs::msg::DisparityImage::SharedPtr image);

  void ScaleImage(double width, double height);
  void DrawIplImage(cv::Mat *image);

  std::string AnchorToString(Anchor anchor);
  std::string UnitsToString(Units units);

  static const unsigned char COLOR_MAP[];
};
}   // namespace mapviz_plugins

#endif  // MAPVIZ_PLUGINS__DISPARITY_PLUGIN_H_
